Path planning for complete and efficient coverage operation of mobile robots

被引：25

作者：

Kang, Jung Won ^{[1
]}

Kim, Si Jong ^{[1
]}

Chung, Myung Jin ^{[1
]}

Myung, Hyun ^{[2
]}

Park, Jun Ho ^{[2
]}

Bang, Seok Won ^{[2
]}

机构：

[1] Korea Adv Inst Sci & Technol, Dept Elect Engn, Taejon 305701, South Korea

[2] Samsung Adv Inst Technol, Micro Syst Lab, Suwon 449712, South Korea

来源：

2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年

关键词：

complete coverage algorithm; optimal coverage algorithm; cell decomposition;

D O I：

10.1109/ICMA.2007.4303880

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a complete and efficient coverage path planning method for mobile robots. Its applications include robots for de-mining, cleaning, painting and so on. When a mobile robot performs area coverage task, completeness and efficiency of coverage are important factors. To achieve completeness easily, we adopt a divide and conquer strategy. We developed a novel cell decomposition algorithm that divides a given area into several cells. To achieve efficiency, each cell is covered by a robot motion that requires minimum time to cover the cell. The effectiveness of the method is verified using simulations.

引用

页码：2126 / +

页数：2

共 8 条

[1] Morse decompositions for coverage tasks [J].

Acar, EU ;

Choset, H ;

Rizzi, AA ;

Atkar, PN ;

Hull, D .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2002, 21 (04) :331-344

[2] Coverage of known spaces: The boustrophedon cellular decomposition [J].

Choset, H .

AUTONOMOUS ROBOTS, 2000, 9 (03) :247-253

[3]

Choset H., 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), P2270, DOI 10.1109/ROBOT.2000.846365

[4] Coverage for robotics - A survey of recent results [J].

Choset, H .

ANNALS OF MATHEMATICS AND ARTIFICIAL INTELLIGENCE, 2001, 31 (1-4) :113-126

[5]

Haung WH, 2001, IEEE INT CONF ROBOT, P27, DOI 10.1109/ROBOT.2001.932525

[6]

Wong SC, 2003, IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, P1685

[7]

Wong SC, 2004, LECT NOTES ARTIF INT, V3157, P683

[8] Finding efficient robot path for the complete coverage of a known space [J].

Yao, Zhiyang .

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-12, 2006, :3369-3374

← 1 →